CanSat & Rocket Experiment(‘99~)
Nano-JASMINE (TBD)
PRISM ‘09
CubeSat 03,05
ハイブリッドロケット
Hodoyoshi-1 ‘14
CanSat and CubeSat History in Japan - How they started and
contributed to education and technologies
Shinichi Nakasuka University of Tokyo
Satellite Design Contest (1993-):1st step paper work training
USSS(University Space Systems Symposium: 1998-)
Real satellite projects formed by Japan-US students
CanSat (1999-):Sub-orbital(4km) experi-
ment of quasi-real satellites. Real operation
CubeSat(2000-): Real Pico-
satellite to be launched to orbit
Follow-on projects by many universities
1998
1999
Japanese Recent History of
University Micro/Nano Satellite Activities
1993
2002
2001
2000
2003.6 Launch
UNISEC
USSS 1998 ~ 2005University Space Systems Symposium
US-JAPAN University discussion workshop
to create real space projects in Hawaii
USSS has been held annually in
many islands under JUSTSAP
1998 Oahu CanSat proposed
1999 Kauai CubeSat proposed
2000 Big Island, Hiro
2001 Big Island, Kona
2002 Oahu
2003 Oahu
2004 Oahu
2005 Oahu
Birth of CanSat at 1st USSS 1998
“Let’s make a satellite out of this Coke-can !!”
Prof. Bob Twiggs, Stanford University
Initial Concept: launch all the CanSats and
operate them in next USSS (one year later)
Changed to Suborbital Launch
(at Stanford, April 1999)
3m
⚫ AEROPAC Amateur Rocket group
⚫ Lift 1.8 kg to 12000ft
⚫ Three 350ml sized cans or one “Large sized can (open class)”
⚫ One flight cost: $400
⚫ at Black Rock Playa (Nevada, USA)
Amateur Rocket Launch
and Descent by Parachute
CAN SAT deployment
nosecone
carrier
ARLISS
launch
4km (ARLISS)
altitude
15-20 min
after release
1st ARLISS Launch, Sep.1999
Dr. Pius Morozumi’s rocket
Initial Training for
satellite development
CanSats 1999 - now
⚫ ARLISS 1999:Sept. 11 (Japan:2, USA:2)
⚫ Univ.of Tokyo, Titech, Arizona State, etc.
⚫ ARLISS 2000: July 28-29 (Japan:4, USA:3)
⚫ ARLISS 2001: August 24-25 (Japan:5, USA:2)
⚫ ARLISS 2002: August 2-3 (Japan:6, USA:3)
⚫ ARLISS 2003: Sept.26-27 (Japan:6, USA:3)
⚫ ARLISS 2004: Sept.24-25 (Japan:6, USA:3)
⚫ ARLISS 2005: Sept.21-23 (Japan:7, USA:3)
⚫ ARLISS 2006 Sept.20-22 (Japan:8 USA:3 Europe:1)
⚫ ARLISS 2007 Sept.12-15 (Japan:10 USA:3 Korea:1)
⚫ ARLISS 2008 Sept.15-20: 10th Memorial ARLISS !
⚫ ARLISS 2016 18th (Japan:12, USA:2, Korea, Egypt)
⚫ ARLISS 2017 19th Sept.13-17 (Japan:13 USA:2 Korea:1)
⚫ ARLISS 2018 20th Memorial !!
ARLISS (A Rocket Launch for International Student Satellites)
- Annual suborbital launch experiment in USA -
Variety of CanSat
Nominal 350ml Juice Can size
(3 CanSats can be launched
by one ARLISS rocket)
“Open Class”: One CanSat can be
launched by one ARLISS rocket
DGPS Experiment (2000)
○GPS measurement and
downlink
○Differential GPS
experiment by crosslink
between three CanSats
(Collaboration
with Titech)
Pre-experiment for future
Formation Flying in Space
Automatic Stand-up
Experiment (2000)
Picture From the Sky
Significance of CanSat Program
• Very Short Period Required for One Whole Project– 5-6 months for mission conceptualization, satellite
design, fabrication, ground test, modification, launch, operation
– Launch date is fixed in ARLISS: no delay is allowed
• Very Low Life Cycle Cost for One Project– $500 - 1,000 budget for one team (typically)
– Helium balloon test requires $200/day and Rocket launch requires $400/flight, etc.
• Small, but Still Can be “a Satellite”– All the satellite functions + mission can be packed
• Can be Retrieved after Experiment– Analysis of the causes of failures is easy
• Possibility of Sponsorship from Juice or cola company
CanSat / Satellite Systems
Comm. Computer
•C&DH
•Communication
•Sensor•Mission Subsystem
S1 S2 S3 S4 S5
Transmitter
OBC
Memory
Sensor data
Data
voltage, temperature
attitude sensors
•Actuator
Motor
Torquer
Command
Current
status
Receiver
Command
uplink downlink
Command
BatterySolar Cell
Sensors,
experimental
system,
camera, etc.
Bus
controller
Power System
Thermal Control System Structure and
Mechanism System
Thruster
Data
Command
Handy Ground Station
(for ARLISS Project)
Yagi-Antenna Note PCTranscever
•Reception of downlinked signal,
monitor the satellite status, and store
the data in computer
·Frequency : 144MHz
·Gain : 8dBi
·length : 87cm
·weight : 530g
·with TNC
·144/430MHz dual band
☆TNC
AX.25
1200 / 9600bps
17
GS Software on PC (1999)
Solar Cell Output
Battery Voltage
Gyro Output
CanSat rotationClock Time
Number of
Received packets
Motor
Command
Schedule
Motor
Current
Status
Data Logging on Memory.
18
Parachute and main body were separated
and the main body crashed on the ground
Failure in 2000
・Students can learn many things from failures
・Engineers should experience failures while the
project size is small
2001年~ Comeback Competition
Participating Universities 2002
Come-Back Competition 2002
Univ. of Tokyo
Stanford Univ.
ROVER
Kyushu Univ.
Tohoku Univ.
Nihon Univ.
Tokyo Institute
of Technology
2002Flyback Record 45m in 2002
Currenty AXELSPACE
CEO Dr. Yuya Nakamura
Target
Landed CanSat
7.2
7.4
7.6
7.8
8
8.2
8.4
8.6
50.5 51 51.5 52 52.5 53 53.5 54
Latitude [min]
Longit
ude [
min
]
landing
destination
release
The flyback CanSat was flown by the wind in 1500-3000m altitude, but came back in the lower altitude where the wind became weak.
Release point: altitude is about 3600 m
Fly away from the target because ofstrong wind between altitude of1500-3000 m
TargetPoint
Landing Point: 45 m from target
Approach to target below 1500 m altitude
Trajectory of 2002 Winning Comebacker
Come-Back Competition 2008
University of Tokyo ISSL Titech Matunaga Lab B
Kyushu Tech. Cho Lab A Kyushu Tech. Cho Lab B
Fly-backers
Come-Back Competition 2008
Akita University Titech Matunaga Lab A
Soka University C Nihon University
Fly-backers
Come-Back Competition 2008
University of Tokyo B3 Tsuyama College
Tohoku University Univ. for Electro Comm.
Rovers
History of Flyback vs. Rover
Come-Back Competition 2007
0
500
1000
1500
2000
2500
3000
2001 2002 2003 2004 2005 2006 2007 2008
Year
Min
imum
Dis
tanc
e(m
)
flyback rover
No Control
0 m !!6 m
45 m
6 mRover
Target
In 2006, Tohoku University’s Rover made “6 m to the target”
Come-Back Competition 2008
2008 Comeback Competition Ranking
1st Place: Tohoku University (R): 0 m
2nd Place: Nihon University (F): 818 m
3rd Place: Titech Matunaga Lab (F): 903 m
First 0m achievement
0
500
1000
1500
2000
2500
3000
2008 2010 2012 2014 2016 2018
Competition Winner Results (2008-2017)
2018
The University of
Electro-Communications
Won with 5.8m
meter
meter
0
1
2
3
4
5
6
7
8
9
10
2008 2010 2012 2014 2016 2018
Detail
Tohoku
University
The University of
Tokyo
The University of
Electro-Communications
After 2008,
rover has been
dominating until
now
2016 UT won
with 3.8m
Opening Ceremony and Briefing (September 10, 2018)
Loading CanSat to Rocket
Setting Rocket to Launcher
Launch to 3600m Altitude
Landing of CanSat
Pushed away by strong wind
How about making this a speed contest ?
Envelope opened and escaped,
but….
In the Second Run, they acieved 3.8m to the target and won !
3.8m
In 2017, University of Tokyo team approached 1.34m to the
target, when it automatically started image navigation.
But because of bad direction of sun light, it gave up.
After modification
of software, it
achieved 0m to
the target in the
second run !
2nd 0 m Achievement
Presented as a Gift to
AEROPAC in 2018
2018, Students Challenge “Flyback”
Result was 900m and was awarded Best Comeback Technology Award
Breakfast Meeting on Final Day
20th Anniversary Gifts to
AEROPAC (Sept 14, 2018)
Balloon Experiment in Japan
• Itakura Competition 2002 (Thermal balloon)
• Noshiro Space Event 2005~
• IAC Fukuoka International Competition 2005
2005
Helium
Balloon
Tether
CANSAT
Gondora
CANSAT
Drop(20 sec)
100-200m
CanSat
Workshop
(2007.2)
• 16 Countries
• Contest started in
Europe (Spain,
Norway---)
• Strong desire for
educational
support from
Japan to emerging
countries
CLTP1 (Wakayama Univ. in Feb-March, 2011)12 from 10 countries, namely Algeria, Australia, Egypt, Guatemala, Mexico, Nigeria, Peru, Sri Lanka, Turkey (3), Vietnam.
CLTP2 (Nihon Univ. in Nov-Dec, 2011)10 from 10 countries, namely Indonesia, Malaysia, Nigeria, Vietnam, Ghana, Peru, Singapore, Mongolia, Thailand, Turkey.
CLTP3 (Tokyo Metropolitan Univ. in July-August, 2012) 10 from 9 countries, namely Egypt (2), Nigeria, Namibia, Turkey, Lithuania, Mongolia, Israel, Philippines, Brazil.
CLTP4 (Keio Univ. in July-August, 2013) 9 from 6 countries, namely Mexico(4), Angola, Mongolia, Philippines, Bangladesh, Japan.
CLTP5 (Hokkaido Univ. in Sept 8-19, 2014)7 from 5 countries, namely Korea (2), Peru, Mongolia, Mexico (2), Egypt.
CLTP6 (Hokkaido Univ. in August 24-Sept 3, 2015)8 from 8 countries, namely Bangladesh, Egypt, Mexico, New Zealand, Angola, Turkey, Tunisia, Austria
CLTP7 (Hokkaido Univ. in Sept 21-Oct 1, 2016)8 from 7 countries, namely Egypt, Peru, Mongolia, Nepal, Myanmar, Serbia, Dominica Republic
CLTP8 (Nihon Univ. in Sept 7-16, 2017)CLTP9 (Nihon Univ. in Aug 20-31, 2018)
64+ participants
from 32+ countries
CanSat Leadership Training ProgramCLTP (CanSat Leaders Training Program) History
HeptaSat
What CanSat Contributed ?
• Even in small scale, the following important
technologies and skills were learnt:
– System analysis and design
– Project management and team work
– How to avoid failures and make recoveries
• We should develop from parts, not by buying
components, by which we could learn:
– How to make components from parts or by
modifying the COTS components
• Systems usually do not work as expected.
Many many test/refine process required.
University of Tokyo’s CubeSat Project “XI”Continued to Real Orbital Project
- CubeSat -
USSS has been held annually in
many islands under JUSTSAP
1998 Oahu CanSat proposed
1999 Kauai CubeSat proposed
2000 Big Island, Hiro
2001 Big Island, Kona
2002 Oahu
2003 Oahu
2004 Oahu
2005 Oahu
by Prof. Twiggs again
Emerge of Nano/pico-Satellites in Japan
World First CubeSats launch
by Univ.Tokyo and Titech
(2003.6.30)
– University level budget (30K$)
– Development within 2 years
– Surviving in space for >15 years
– Ground operations, frequency
acquisitions, launch opportunity
search processed by ourselves
CubeSat XI-IV & CUTE-1
Russian
Launch
Many Japanese universities
start developing their own
satellites through UNISEC
network
UNISEC started during CubeSat development(UNIversity Space Engineering Consortium)
• Founded in 2002 (5 universities), became NPO in 2003
• In 2017, 72 laboratories from 50 universities– 892 students, 259 individual/company members
• UNISEC Missions:– Education and human resource training for space
development/utilization
– Innovative space technology “seeds” development
• Activities to be Supported:– Joint experiment, joint purchase of parts/ground tests, etc.
– Workshop, symposium, technology exchange, etc.
– Consultation on legal matters (frequency, export law, etc.)
– Finding “rivals” within the community !
– “UNISEC Lecture Series”http://www.unisec.jp
Launch of the World First CubeSat
(XI-IV, CUTE-1) by “ROCKOT”
2003/06/30 18:15:26 (Russia, Plesetsk time)
CANON
Satellite
2017.6.23
Hayabusa-2
Contribution to human
resource training was
more than expected !
700+ pictures downlinked for 15+ years
XI-IV is still perfectly working after 15 years in orbit
Recently Downlinked Photos
Degradation of lens
material by ultra-violet
Key strategy to be world first CubeSat
• No components on web-site for CubeSat
– Everything should be internally-made
• No ground test facilities in our university
• We only have little money ($55,000)
• Key strategies employed in our first CubeSat
– Find out and pursue what we can do within our
limited resources, not aiming at supreme level
– Find outside supporters (technical, part donation)
– Make it as simple as possible (start from very
very simple CubeSat)
– Implement survivability as much as possible
Structure
Power-system
TX-systemOBC-system
CWRX-system
Important Analog
Sensors
Analog Sensors
Digital Sensors
Antenna Latch
Battery
Solar Cell
C-DCDC
TX-DCDCOBC
ROM TX TNC
RX TNC
CW GEN
TX
RX
CWCharge
Circuit
RX TNC
Analog SW
CW
PWR5V
TLM
TLM
CMD
TLMACK
E-DCDC
OBC
PWR5V
OBC
XI-IV System
Satellite’s Key Technological Issue
“non-repairable system”How to realize a certain level of reliability within
limited resources (size, weight, power) ??
“Die Hard” system is essential !!- Mutual monitoring or hierarchical monitoring
- “Reset (power off-on)” operation
- Solar power generation possible in any attitude
- Under voltage control (UVC) and recovery from
dead battery situation
- Appropriate definition of “safe mode”
World First
CubeSat !
2003 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18
CubeSat XI-IV(ROCKOT) 2003/6
CubeSat XI-V(COSMOS) 2005/10
PRISM(H-IIA) 2009/1
NANO-JASMINE(TBD)
University of Tokyo’s History - 9 satellites developed (8 launched) -
30m GSD Remote sensing
Astrometry (top-science)
development launch
HODOYOSHI-1,3,4(DNEPR) 2014/6,11
Remote sensing, S&F
Education,Camera test
Education,CIGS solar cells
[1]
[2]
[3]
[4][5][6]
PROCYON(H-IIA) 2014/12
[7]
[9]
[1]-[8]:Launched [9]: Waiting for launch
MDG (remote sensing, 50kg), 2 x 3U CubeSat EQUULEUS (14kg, deep space) are being developed.
Deep space exploration
[8]TRICOM-1R
(2018/2)
Comm.
Hodoyoshi-3 (left) and Hodoyoshi-4 before Shipment (April, 2014)
Size:50x50x80cm 60kg Downlink: 10Mbps Power: max 100W average 50W
Attitude Control Capability:
- Stability 0.08 deg/s (Roll, Pitch) 0.8 deg/s (Yaw)
- Pointing accuracy 0.2 deg 2 deg
- Determination accuracy 0.0048 deg 0.048 deg
Target: 50kg class satellite to be
developed within $3M and 2 years
Chiba
(6m GSD)
“Store & Forward” collects ground information
Data collection Data collection Data Downlink
Fixed sensors
Moving sensors
Ground
Station
Satellite collecting data
CE-CAM
3-MTQRW
MOBC
LI-BAT
GNSSRSub-CAM
PCU
UTRx
COMM
S&F-ANT
CMD-ANT4xTLM-ANT
(*収納時)
S&F
Application areas: disaster prediction,
water level monitoring, soil moisture, PH…..
Key Issue: How to send data with very low
RF power to the satellite ?
8mW low RF power, low data rate (300bps)
transmission is tested in TRICOM-1R. 3kg TRICOM-1R
Launch of TRICOM-1R by SS-520-5
• Launched on 3/2/2018 by the world smallest orbital rocket by JAXA/ISAS
• S&F and camera experiments successful
– 8mW transmission from Japan, RWANDA, etc
• Plan to develop low cost/quick development version to support foreign countries
News from Africa (09/05/2018)
Smart Africa, Rwanda Sign Deal With
Tokyo University For Satellite Technology
MOU to develop 3U CubeSat to be launched in mid 2019
EQUULEUSEQUilibriUm Lunar-Earth point 6U Spacecraft (6kg
Mission to Earth Moon Lagrange PointIntelligent Space Systems Laboratory, 2016/08/01
One of 13 EM-1 CubeSats
onboad NASA’s SLS-rocket
30cm20cm
10cm
Solar Array
Paddles
with gimbal
Attitude control unit
Battery
Ultra-stable Oscillator
Transponder
Water resistojet
thrusters
X-Band LGA
CDH &
EPS
DELPHINUS (lunar impact flashes
observation)
PHOENIX (plasma-sphere
observation)
Propellant (water) Tank
X-Band LGA
X-Band MGA
20cm
30cm
6U CubeSat size“EQUULEUS”
Condensed
14kg !!
From CanSat to CubeSat, Nano-Satellite
From Educational purpose to Practical application
University Satellites in Japan48 university satellites launched in 2003-2017
Japanese University Satellite Launch
(2003-2017)
• Foreign Rockets: 12
– ROCKOT(Russia) 2 (2003)
– COSMOS(Russia) 1 (2005)
– PSLV(India) 3 (2008, 2012)
– DNEPR (Russia) 6 (2014)
• Japanese Rockets and ISS: 36
– M-V 2 (2006)
– H-IIA 19 (2009~)
– HTV⇒ISS deployment 15 (2012~)
JAXA supported University satellite projects !
67
Attaching CubeSat to ISS (on “i-SEEP”)
➢CubeSat module: 100W×100L×113.5H3U is acceptable
➢8 Units can be implemented on one side of i-SEEP
➢Power and communication service is provided via USB
➢Power: 5V 4W
➢Comm.: 100kbps (Ethernet)
➢Thermal: connected to cold plate. Total system is covered by MLI
➢Each CubeSat module is launched separately and attached to i-SEEP by crew
CubeSat Module (max 3U)
iSEEP
3U*
1U
1U CubeSat module
USBHub
USB-LAN Converter
MLI
DC/DC28V/5V
MLI
Coming soon !!Check JAXA website.
Note) These parameters are tentative ones.
Summary and Proposal in UNIGLO
• We followed reasonable steps;
– Satellite design contest to learn system design
– CanSats to learn basic satellite-like development
– CubeSat to learn simple yet real space system
development
– More sophisticated satellites for practical
applications
• Making components from basic parts would be
difficult, but eventually it will contribute to the
growth of our technologies and skills
• Keep UNISEC-mind: strong will, never-give-up
mind, rivalry feeling, honest as to engineering--